EC1406 CONTROL SYSTEMS ENGINEERING 2023-2024

UNIT III FREQUENCY RESPONSE AND SYSTEM ANALYSIS

Closed loop frequency response-Performance specification in frequency domain-Frequency

response of standard second order system- Bode Plot - Polar Plot- Nyquist plots-Design of
compensators using Bode plots-Cascade lead compensation-Cascade lag compensation-
Cascade laglead compensation

3.1 Introduction

The frequency response is the steady state response of a system when the input to the system us a
sinusoidal signal.

Let us consider a Linear Time Invariant (LTI) system as shown in Figure 3.1.

Let x(t) is a sinusoidal input signal with unity amplitude. The response or output y(t) is also a
sinusoidal signal of same frequency. But it’s Magnitude and the Phase angle is different
compared with the input signal.

x(t) y(t)
LTI system

Figure 3.1 LTI system

Where; x(t)= X sin ωt & y(t) = Y sin (ωt + ϕ)

The magnitude and phase relationship between the sinusoidal input and the steady state output of
a system is called the frequency response. In LTI systems, the frequency response is independent
of the amplitude and the phase of the input signal.

Normally, the frequency response of a system is obtained by varying the frequency of the signal
by keeping the magnitude of the input signal at a constant value.

In the system transfer function T(s), if ‘s’ is replaced by ‘jω’, then the resulting transfer function
T(jω) is called the sinusoidal transfer function. Then the frequency response can be obtained
from T(jω) and also T(jω) is a complex function of frequency.

The magnitude and phase of T(jω) are functions of frequency and can be evaluated for various
values of frequencies.

The frequency response can be evaluated for both open-loop system and closed-loop systems as
follows;

Open-loop transfer function, G( j )  G( j ) G( j ) (3.1)

Loop transfer function, G( j )H ( j )  G( j )H ( j ) G( j )H ( j ) (3.2)
C( jw )
Closed- loop transfer function,  M ( j )  M ( j ) M ( j ) (3.3)
R( jw )
where M ( j ) is a closed loop parameter.

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Advantages of Frequency response

a. The absolute and relative stability of the closed loop system can be estimated from the
knowledge of their open-loop frequency response.
b. The practical testing of systems can be easily carried with available sinusoidal signal
generators and precise measuring equipments.
c. The transfer function of complicated systems can be determined experimentally by frequency
response tests.
d. The design and parameter adjustment of the open-loop transfer function of a system for
specified closed-loop performance is carried out more easily in frequency domain.
e. If the system is designed using the frequency response, the effects of noise disturbance and
parameter variations are relatively easy to visualize and incorporate corrective measures.
f. The frequency response analysis and designs can be extended to certain non-linear control
systems.

3.2Frequency domain specifications

The performance and characteristics of a system in frequency domain are measured in terms of
frequency domain specifications.

The common frequency domain specifications are discussed below;

a. Resonant Peak (Mr)
The maximum value of the magnitude of closed-loop transfer function is called the resonant peak
(Mr). A large ‘Mr’ corresponds to a large overshoot in transient response.

b. Resonant Frequency (ωr)

The frequency at which the resonant peak occurs is called resonant Frequency (ωr). This is
related to the frequency of oscillation in the step response and thus it is indicative of the speed of
transient response.

c. Bandwidth (ωb)
The bandwidth (ωb) is the range of frequencies for which the system gain is more than -3 dB.
The frequency at which the gain is -3dB is called the cut-off frequency. Bandwidth is normally
considered in closed-loop system and it transmits the signals whose frequencies are less than the
cut-off frequency. A large bandwidth corresponds to a small rise time or fast response.

d. Cut-off Rate
The slope of the log-magnitude curve near the cut-off frequency is called the cut-off rate. The
cut-off rate indicates the ability of the system to distinguish the signal from noise.

e. Gain Margin (Kg)

The Gain margin (Kg) is defined as the reciprocal of the magnitude of open-loop transfer
function at phase-cross over frequency. The frequency at which the phase of open loop transfer
function is 180o is called the phase cross-over frequency (ωpc).

1
Gain margin (Kg) = (3.4)
G( j pc )
1
Gain margin (Kg) in dB = 20 log K g  20 log  20 log G( j pc ) (3.5)
G( j pc )

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The gain margin indicates the amount by which the gain of the system can be increased without
affecting the stability of the system.

f. Phase Margin (γ):

The phase margin (γ) is the amount of additional phase lag at the gain cross over frequency
required to bring the system to the verge of instability. The gain cross over frequency (ω gc) is the
frequency at which the magnitude of the open-loop transfer function is unity.

The phase margin (γ) is obtained by adding 180o to the phase angle ϕ of the open loop transfer
function at the gain cross over frequency.

Phase margin (γ) = 180 o  gc ; where gc  G( jgc ) (3.6)

3.3 Frequency response of second order system

C ( s)  n2
second order system  M ( s)  2
R( s ) s  2 n s   n2
sinusoidal transfer function obtained by substituting s = jω

 n2
M ( j ) 
( j ) 2  2 n ( j )   n2

 n2

  2  j 2 n   n2
1

 
1  ( ) 2  j 2
n n

Normalized frequency u 
n
1
M ( j ) 
(1  u )  j2u
2

M-Magnitude of closed loop transfer function

α – Phase of closed loop transfer function
1
M  M ( j ) 
(1  u 
1
)  (2u ) 2
2 2 2

2u
  M ( j )   tan 1 ( )
1 u2

1
Resonant Peak (Mr): Mr 
2 1   2
Resonant Frequency (ωr)  r   n 1  2 2

 
1

Bandwidth (ωb) b   n ub   n 1  2  2  4  4
2 2 4 2

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Gain Margin (Kg)= infinite (∞)


  
1

1   2  4 4  1
2 2
Phase Margin (γ)   90  tan  
2
 
 

3.4 Correlation between frequency domain and time domain specifications:

The correlation between time and frequency response has an explicit form only for first and
second order systems. The correlation for the 2nd order system is discussed below.

Chose the standard form of transfer function of second order system:

C( s ) n2
 2 (3.7)
R( s ) s  2 n s  n2

Where, ζ – damping ratio and ωn – undamped natural frequency.

The sinusoidal transfer function of the system is obtained by letting s=jω,

C( j ) n2 n2
 T ( j )  
R( j ) ( j )  2 n ( j )  n
2 2
   j 2 n   n2
2

n2 1 1
   (3.8)
 2    
2
 ( 1  u 2 )  j 2u
n2   2  j 2  1 1     j 2
 n n   n  n

 
Where, u     is the normalized frequency.
 n 
1
Magnitude of closed-loop system, M  T ( j )  (3.9)
( 1  u ) 2  ( 2u ) 2
2

2u 
Phase of closed loop system;   T ( j )   tan 1  2 
(3.10)
1u 

The magnitude and phase angle characteristics for normalised frequency ‘u’ for certain values of
‘ζ’ are shown in Figure (a) and (b). The frequency at which M has a peak value is known as the
resonant frequency. The peak value of the magnitude is the resonant peak ‘Mr’. At this
frequency, the slope of the magnitude curve is zero.
 
Let ωr be the resonant frequency and u r   r  be the normalized resonant frequency.
  n 
The expression for resonant frequency ωr can be obtained by differentiating M with respect to ω
and equating dM/du to zero.
The Mr and the corresponding phase αr can be obtained by substituting the expression for ωr in
the equation of M and α.

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1  1  2  2
It can be shown that; M r  ; u r  1  2 2 ;  r   tan 1   and r  n 1  2 2
2 1   2   
 
1
When ζ=0, r  n 1  2 2  n and M r  
2 1   2
Hence, it is clear that, as ζ tends to zero, ωr approaches ωn and Mr approaches infinity.

For 0    1 / 2 , the resonant frequency always has a value less than ωn and the resonant peak
has a value greater than one.

For   1 / 2 , the condition (dM/du)=0, will not be satisfied for any real value of ω.

1.4
For ζ =ζ1 < 0.707
1.2
1.0
For ζ > 0.707
M
0.8
Mr
0.6

0.4

0.2

0 ur u

0o
For ζ=ζ1

α -90o

-180o

1 2
0
u

Figure. (a) Magnitude M as a function of u and (b) Phase α as a function of u.

Hence, when   1 / 2 , the magnitude M decreases monotonically from M=1 at u=0 with
increasing u. It follows that, for   1 / 2 ; there is no resonant peak and the greatest value of M
equals one.

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The frequency at which M has a value of 1 / 2 is of special significance and is called the cut-off
frequency ωc. The signal frequencies above cut-off are greatly attenuated on passing through a
system

For feedback control system, the range of frequencies over which M  1 / 2 is defined as
bandwidth ωb is equal to cut-off frequency ωc.

In general, the bandwidth of a control system indicates the noise-filtering characteristics of the
system. Also, bandwidth gives a measure of the transient response.

  1  2 2  2  4 2   4 
1/ 2
The normalized bandwidth, u b   b  =  
 n 

From the equation of ub it is clear that, ub is a function of ζ alone. The graph between ub and ζ is
shown in Figure (c)

1.5

1.0
ub

0.5

0 0.5 0.707 1
ζ
Figure (c). Normalized band-width as a function of ζ

The expression for the damped frequency of oscillation ωd and peak overshoot Mp of the step
response for 0    1 are;


1 2
Damped frequency ωd =  1   2
and Peak overshoot M p  e

Comparison of the equation of Mr and Mp reveals that, both are functions of only ζ.

The sketches of Mr and Mp for various value of ζ are shown in Figure (d). The sketches reveal
that, a system with a given value of Mr must exhibit a corresponding value of Mp if subjected to a
step input. For   1 / 2 , the resonant peak Mr does not exist and the correlation breaks down.
This is not a serious problem as for this range of ζ., the step response oscillations are well
damped and Mp is negligible.

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3.0
Mr

2.0
Mr Mp

1.0 Mp

0.5 0.707 1 2
0
Figure (d). Mr and Mp as a function of ζ ζ

Figure (f). ωr / ωb as a function of ζ

The compensation of the equation of ωr and ωb reveals that, here exists a definite correlation
between them. The sketch of ωr / ωb as a function of ζ is depicted in Figure (f).

Frequency response plots:

Frequency response analysis of control system can be carried either analytically or graphically

1.Bode plot
2.ploar plot
3.Nyquist plot
4.Nichols plot
5. M and N circles

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3.5 Bode plot:

A sinusoidal transfer function may be represented by two separate plots; one giving the
magnitude Vs frequency and the other the phase angle Vs frequency. A bode plot (named after
Hendrick W. Bode) consists of two graphs; one is a plot of the logarithm of the magnitude of the
sinusoidal transfer function and the other is a plot of the phase angle in degrees; both are plotted
against the frequency in logarithmic scale.

In a Bode plot, the logarithmic magnitude of sinusoidal transfer function G(jω) is represented
as 20 log G( j ) , where the base of the logarithm is 10. The unit in this representation of the
magnitude is decibel (dB). The main advantage of using the logarithmic plot is that the
multiplication of magnitudes can be converted into addition.

The Bode plot is sketched using the semi-log sheet shown in Figure 3.2.

Frequency (rad/sec)
Magnitude (dB)

Phase angle (deg)

Figure 3.2. Semi-log graph sheet

Example 1.

200( s  1 )
Let is draw the Bode magnitude plot for the transfer function: G( s ) 
( s  10 ) 2
The rearrangement of the transfer function in the time-constant form gives ( ie. making the
10 as unity);
2( s  1 )
G( s ) 
( 1  s / 10 ) 2
Therefore, the sinusoidal transfer function in the time-constant form is given by:

2( j  1 )
G( j ) 
( 1  j / 10 ) 2
Our approach is to first to construct an asymptotic plot and then apply corrections to it to get
an accurate plot. The corner frequencies of the asymptotic plot in order of their occurrence as
frequency increases as;
(i) ωc1 = 1; due to zero at s = -1;
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(ii) ωc2 = 10; due to zero at s = -10
At frequencies less than ωc1, the first corner frequency. Only the factor K=2 is effective.
The approximated values are presented in Table 3.1.

Table 3.1 Asymptote approximation table

Factor Corner Asymptotic magnitude characteristic

frequency
2 None Constant magnitude of +6dB
1+jω ωc1 = 1 Straight line of 0 dB for ω< ωc1; straight line of
+20 dB/decade for   c1
1/(1+ jω/10)2 ωc2 = 10 Straight line of 0 dB for ω< ωc2; straight line of -
40 dB/decade for   2

Table 3.2 Corrections to asymptotic magnitude plot

Frequency (ω) 0.5 1 2 5 10 20

Net correction
+1 +3 +1 -2 -6 -2
(dB)

Step 1: We start with the factor K=2. Its magnitude plot is the asymptote 1; a horizontal straight
line at the magnitude of 6 dB.

dB
Magnitude Plot
30
26 Asymptote 2 Asymptote 3
20 (20 dB/dec)
(-20 dB/dec)
10 Asymptote 1
6
0 dB/dec
0

-10
0.5 1 5 10 20 100 ω
Figure 3.3 (a) Magnitude plot

 Phase Angle value G( j )  tan 1 (  )  2 tan 1  
 
10

ω (rad/sec) 0.5 1 5 10 20 100

G( j ) ; deg 20 34 25 -5.7 -39.7 -79.15

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deg
60 Phase Plot
Magnitude Plot

-60 (-20 dB/dec)

-120

-180

-240 0.5 10
1 5 10 20 100 ω

Figure 3.3 (b) Phase plot

Step 2: Let us add to the asymptote 1, the plot of the factor (1+jω) corresponding to the lowest
corner frequency ωc1=1. Since this factor contributes zero dB for   c1 =1, the resultant plot up
to ω=1 is the same as that of the asymptote 1. For ω > ωc1=1, this factor contributes
+20dB/decade such that the resultant plot of the two factor is the asymptote 2 of slope +20
dB/decade passing through (6dB, 1 rad/sec) point. At, ω =ωc2=10, the resultant plot has a
magnitude of 26 dB as shown in Figure 3.3.
Step 3: We now add to the resultant plot of step 2, the plot of the factor 1/(1+jω/10)2
corresponding to the corner frequency ωc2=10. Since this facto contributes 0 dB for   c 2 =10,
the resultant plot up to ω=10 is the same as that of step2. For   c 2  10 , this factor contributes
-40 dB/dec such that the resultant plot of the three factor is the asymptote 3 of slope (+20) + (-
40) = -20 dB/decade passing through magnitude plot of given G(jω).

The corrections at each corner frequency and at an octave above and below the corner frequency
are usually sufficient. The corner frequency ωc1=1corresponds to the first-order factor (1+jω); the
corrections are +3dB at ω=1, +1dB at ω=0.5 and +1dB at ω=2. The corner frequency ω c2=10
corresponds to 1/(1+jω/10)2: the corrections are presented in Table 3.2.

Example 2.
10( 1  j / 2 )
Consider the transfer function: G( j ) 
( j ) 2 ( 1  j )
Our approach is to first to construct an asymptotic plot and then apply corrections to it to get
an accurate plot. The corner frequencies of the asymptotic plot in order of their occurrence as
frequency increases as;
(i) ωc1 = 1; due to simple pole;
(ii) ωc2 = 2; due to simple zero
At frequencies less than ωc1, only the factor 10 (jω)2 is effective.
The asymptotic magnitude plot of G(jω) is shown in Figure 3.4.

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60 Magnitude Plot
50 Asymptote 1 (-40 dB/decade)
40
30
dB
20
10
2
0
Asymptote 2
-10 (-60 dB/decade)

-20 Asymptote 3
(-40 dB/decade)
-30
0.1 0.5 1 2 4 10 ω

Figure 3.4 (a) Magnitude plot

 Phase Angle value G( j )  tan 1     180  tan 1  
2
ω (rad/sec) 0.1 0.5 1 2 4 10
G( j ) ; deg -183 -192 -198 -198 -192 -180

deg
Phase plot
-160

-170

-180
-190

-200
0.1 0.5 1 2 4 10 ω

Figure 3.4 (b) Phase plot

Table 3.3 Corrections to asymptotic magnitude plot

Frequency (ω) 0.5 1 2 4

Net correction (dB) -1 -2 +2 +1

Step 1: We start with the factor 10 (jω)2 corresponding to double pole at the origin. Its
magnitude plot is the asymptote 1, having a slope of -40 dB/decade and passing through the
point 20 log 10 = 20 dB at ω=1. Asymptote 1 intersects the 0 dB line at   10 .

Step 2: Let us now add to the asymptote 1, the plot of the factor 1/(1+jω) corresponding to the
lowest corner frequency ωc1=1. Since this factor contributes zero dB for   1 , the resultant plot
up to ω=1 is the same as the asymptote 1. For ω > 1 this factor contributes -20 dB/decade such
that the resultant plot of the two factors is the asymptote 2 of slope (-40)+(-20) = -60 dB/decade

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passing through the point 20 dB; 1 rad/sec. At ω = ωc2=2. The resultant plot has a magnitude of
2dB as shown in Figure 3.4.

Step 3: We now add to the resultant plot of step 2, the plot of the factor (1+jω/2) corresponding
to the corner frequency ωc2=2. This gives rise to a straight line of slope +20 dB/decade for ω > 2,
which when added to asymptote 2 results in asymptote 3 of slope (-60)+(+20)= -40 dB/decade
passing through 2 dB, 2 rad/sec point.

To the asymptotic plot obtained are corrected as per the values shown in Table 3.3 and the exact
magnitude plot is constructed.

Example 3.

Ke0.2 s
Given G( s )  .
s( s  2 )( s  8 )

Find K so that the system is stable with Gain margin equal to 6 db and (b) Phase margin equal to
450 using bode plots.

Solution:

Ke0.2 s Ke0.2 s 0.0625 Ke0.2 s

Given that; G( s )   
s( s  2 )( s  8 ) sx 2( s / 2  1 ) x8( s / 8  1 ) s( 1  0.5 s )( 1  0.125 s )

Let K=1 and replacing ‘s’ with ‘jω’, we get;

0.0625 Ke 0.2 j
G( j ) 
j( 1  0.5 j )( 1  0.125 j )

o Magnitude plot:
The corner frequencies are;
ωc1= 1/0.5 = 2 rad/sec and ωc2= 1/0.125 = 8 rad/sec

Magnitude plot Table

Corner frequency Slope Change in Slope
Term (dB/dec)
(rad/sec) (dB/dec)
0.0625 -
- -20
j
1 -20-20=-40
ωc1= 1/0.5 = 2 -20
1  j0.5
1 -40-20=-60
1  j0.125
ωc2= 1/0.125 = 8 -20

Choosing ωl < ωc1 and ωh > ωc2., Let ωl = 0.5 rad/sec and ωh = 50 rad/sec.

Let the magnitude is ; A  G( j ) ; dB

Finding A for ωl, ωc1, ωc2, and ωh

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0.0625 0.0625
 When ω = ωl; A  20 log  20 log  18dB
j 0.5
0.0625 0.0625
 When ω = ωc1; A  20 log  20 log  30dB
j 2
c2
 When ω = ωc2; A  Slope from c1 to c2 x log  A at c1
c1
8
 40 x log  ( 30 )  54dB
2
h
 When ω = ωh; A  Slope from c2 to h x log  A at c2
c2
50
 60 x log  ( 54 )  102dB
82
o Phase plot:

The phase angle of G(jω) as a function of ω is given by;

180
  20 x  90  tan 1 0.5  tan 1 0.125


For various values of the assumed ‘ω’; the phase angle ‘ϕ’ is computed as shown below:

Phase plot Table

ω (rad/sec) 0.01 0.1 0.5 1 2 3 4

Φ (deg) -90 -94 -114 -134 -172 -202 -226

Computation of K:

Phase margin:   180  gc

When, γ=45o; gc =γ-180=45-180= -135o

With K=1, the dB gain at ϕ= -135o is -24dB. This gain should be made zero to have to PM of
45o. Hence to every point of magnitude plot a dB gain of 24dB should be added. The corrected
magnitude plot is obtained by shifting the plot with K=1 by 24dB upwards. The magnitude
correction is independent of frequency. Hence, the magnitude of 24dB is contributed by the term
K. The value of K is calculated by equating 20 log K to 24dB.

Hence, 20 log K = 24; K= 1024/20; K= 15.84

With K=1; the gain margin = -(-34) = 34dB.But the required GM is 6dB. Hence; 34-6 = 28dB is
to be added for every point and the final value will be;

20 LOG k = 28; K= 1028/20; K= 25.12.

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In Φ
dB In deg

20
10 -80
0 -100
-10 -120
-20 -140
-30 -160
-40 -180
-50 -200
-60 -220
-70 -240
-80

` 0.01 0.1 0.5 1 2 3 4 8 10 50

ω in rad/sec

3.6 Polar plot (Nyquist plot ):

Polar plot is a plot which can be drawn between magnitude and phase. Here, the magnitudes
are represented by normal values only.

The polar form of G(jω)H(jω) is

G(jω)H(jω)=|G(jω)H(jω)|∠G(jω)H(jω)
The Polar plot is a plot, which can be drawn between the magnitude and the phase angle
of G(jω)H(jω) by varying ω from zero to ∞. The polar graph sheet is shown in the following
figure.

This graph sheet consists of concentric circles and radial lines. The concentric circles and
the radial lines represent the magnitudes and phase angles respectively. These angles are
represented by positive values in anti-clock wise direction. Similarly, we can represent angles
with negative values in clockwise direction. For example, the angle 2700 in anti-clock wise
direction is equal to the angle −900 in clockwise direction.

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-230 -240 -250 -260 -270 -280 -290 -300 -310

-220 -320

-210 -330

-200 -340

-190 -350

-180 0

-170 -10

-160 -20

-150 -30

-140 -40

-130 -120 -110 -100 -90 -80 -70 -60 -50

Rules for Drawing Polar Plots

Follow these rules for plotting the polar plots.

 Substitute, s=jω in the open loop transfer function.

 Write the expressions for magnitude and the phase of G(jω)H(jω).
 Find the starting magnitude and the phase of G(jω)H(jω) by substituting ω=0. So, the
polar plot starts with this magnitude and the phase angle.
 Find the ending magnitude and the phase of G(jω)H(jω) by substituting ω=∞. So, the
polar plot ends with this magnitude and the phase angle.
 Check whether the polar plot intersects the real axis, by making the imaginary term
of G(jω)H(jω) equal to zero and find the value(s) of ω.
 Check whether the polar plot intersects the imaginary axis, by making real term
of G(jω)H(jω) equal to zero and find the value(s) of ω.
 For drawing polar plot more clearly, find the magnitude and phase of G(jω)H(jω) by
considering the other value(s) of ω.

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Consider a first order system
1
𝐺(𝑠) =
1 + 𝜏𝑠
Where τ - time constant
Representing G(s) in the frequency domain form G(jω)
1
𝐺(𝑗𝜔) =
1 + 𝑗𝜏𝜔
Multiply both numerator and denominator by conjugate of denominator 1-jωτ
1 − 𝑗𝜏𝜔 1 1 − 𝑗𝜏𝜔
𝐺(𝑗𝜔) = =
1 − 𝑗𝜏𝜔 1 + 𝑗𝜏𝜔 1 + 𝜏 2 𝜔 2

1 −𝜏𝜔
𝐺(𝑗𝜔) = 2 2
+𝑗
1+𝜏 𝜔 1 + 𝜏 2𝜔2

1 2 −𝜏𝜔 2 1
Magnitude |𝐺(𝑗𝜔)| = √(1+𝜏2 𝜔2) + (1+𝜏2 𝜔2 ) = √1+𝜏2
𝜔2

−𝜏𝜔
−1 1+𝜏2 𝜔2 −𝜏𝜔
Phase ϕ = tan ( 1 ) = tan−1 ( )
1
1+𝜏2 𝜔2
Point 1 the start of the plot where ω = 0
1 0
|𝐺(𝑗𝜔)| = = 1 ϕ = tan−1 (1) = 0
√1+0
Point 2 the end of the plot where ω = ∞
1 −∞
|𝐺(𝑗𝜔)| = =0 ϕ = tan−1 ( ) = −90
√1+∞ 1
Point 3 where the plot crosses the real axis Im(G(jω)) = 0
−𝜏𝜔
= 0 , ω =0 and ω = ∞
1+𝜏2 𝜔2

Point 4 where the plot crosses the Imaginary axis Re(G(jω)) = 0

1
=0 ; ω= ∞
1+𝜏2 𝜔2
As point 3 coincides with Point 1 , 2 and Point 4 coincides with Point 2, we need more values
1
of G(jω) evaluated at different frequencies , taking 𝜔 = 𝜏
1 1 −1
|𝐺(𝑗𝜔)| = = ϕ = tan−1 ( 1 ) = −45
√1+1 √2
1
Sketching the plot for
1+𝜏𝑠

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Example 1:
Consider the open loop transfer function of a closed loop control system.
G(s)H(s)=1 / s(s+1)(2s+1)

Let us draw the polar plot for this control system using the above rules.
Step 1 − Substitute, s=jω in the open loop transfer function.
G(jω)H(jω)=1/jω(jω+1)(2jω+1)

The magnitude of the open loop transfer function is

1
M
(   1 4 2  1
2

The phase angle of the open loop transfer function is

ϕ=−90O−tan−1ω−tan−12ω

Step 2 − The following table shows the magnitude and the phase angle of the open loop transfer
function at ω=0 rad/sec and ω=∞ rad/sec.

Frequency (rad/sec) Magnitude Phase angle(degrees)

0 ∞ -90 or 270
∞ 0 -270 or 90

So, the polar plot starts at (∞,−900) and ends at (0,−2700). The first and the second terms within
the brackets indicate the magnitude and phase angle respectively.
Step 3 − Based on the starting and the ending polar co-ordinates, this polar plot will intersect
the negative real axis. The phase angle corresponding to the negative real axis is −180 0 or 1800.
So, by equating the phase angle of the open loop transfer function to either −1800 or 1800, we
can compute the following:

ω (rad/sec) 0.35 0.4 0.45 0.5 0.6 0.7 1.0

G( j ) 2.2 1.8 1.5 1.2 0.9 0.7 0.3

G( j ); deg -144 -150 -156 -162 -171 -180 -198

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-230 -240 -250 -260 -270 -280 -290 -300 -310

-220 -320

-210 -330

-200 -340

-190 3 2 1 0 -350

-180 0

-170 -10

-160 -20

-150 -30

-140 -40

-130 -120 -110 -100 -90 -80 -70 -60 -50

Gain Margin = 1/0.7= 1.43 and Phase margin = 180-168=12o

Example 2:
10( s  2 )
Sketch the polar plot for the transfer function; G( s ) 
s( s  1 )( s  3 )

Solution:
10( j  2 )
Step 1:By replacing s=jω; we get G( j ) 
j( j  1 )( j  3 )

Step 2: The magnitude and the phase angle will be;

10  2  4
G( j ) 
(  2  1 )(  2  9 )
 
G( j )  90  tan 1  tan 1   tan 1
2 3
Step3: By giving the values of ω and calculating the G( j ) and G( j ) ; we get the following
table

ω (rad/sec) 0 0.8 1 1.5 3 5 

G( j )  6.77 5 2.76 0.9 0.36 0

G( j ); deg -90 -122 -127 -136 -150 -160 -180

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-230 -240 -250 -260 -270 -280 -290 -300 -310

-220 -320

-210 -330

-200 -340

-190 6 4 2 0 -350

-180 0

-170 -10

-160 -20

-150 -30

-140 -40

-130 -120 -110 -100 -90 -80 -70 -60 -50

Gain Margin = 1/0=  and Phase margin = 180-148=32o

3.7 Effect of Lag, lead and lag-lead compensation on frequency response- Analysis:

Necessary of Compensation:

 In order to obtain the desired performance of the system, we use compensating networks.
Compensating networks are applied to the system in the form of feed forward path gain
adjustment.
 Compensate a unstable system to make it stable.
 A compensating network is used to minimize overshoot.
 These compensating networks increase the steady state accuracy of the system. An
important point to be noted here is that the increase in the steady state accuracy brings
instability to the system.
 Compensating networks also introduces poles and zeros in the system thereby causes
changes in the transfer function of the system. Due to this, performance specifications of
the system change.

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Methods of Compensation:

Connecting compensating circuit between error detector and plants known as series
compensation.

Figure (1) Series Compensator

When a compensator used in a feedback manner called feedback compensation.

Figure (2) Feedback Compensator

A combination of series and feedback compensator is called load compensation.

Figure (3) Load Compensator

Now what are compensating networks? A compensating network is one which makes some
adjustments in order to make up for deficiencies in the system. Compensating devices are may be
in the form of electrical, mechanical, hydraulic etc. Most electrical compensator are RC filter.
The simplest network used for compensator are known as lead, lag network.

Phase Lead Compensation

A system which has one pole and one dominating zero (the zero which is closer to the origin than
all over zeros is known as dominating zero.) is known as lead network. If we want to add a
dominating zero for compensation in control system then we have to select lead compensation
network. The basic requirement of the phase lead network is that all poles and zeros of the
transfer function of the network must lie on (-) ve real axis interlacing each other with a zero
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located at the origin of nearest origin. Given below is the circuit diagram for the phase lead
compensation network.

Figure (4) Phase Lead Compensation Network

d
I 1 C ( ei  e0 )
dt
ei  e0
I 2
R1
d e  e0
I  I1  I 2  C ( ei  e0 )  i
dt R1
e0
Again , I 
R2
From above circuit we get, Equating above expression of I we get,

e0 d e  e0
 C ( ei  e0 )  i
R2 dt R1

Now let us determine the transfer function for the given network and the transfer function can be
determined by finding the ratio of the output voltage to the input voltage. So taking Laplace
transform of both side of above equations,

E0 ( s ) 1
 [ Ei ( s )  Eo ( s )]  Cs[ Ei ( s )  Eo ( s )]( neglecting initial condition )
R2 R1
E0 ( s ) 1 E (s)
  [ E o ( s )]  CsEo ( s )  i  CsEi ( s )
R2 R1 R1
1  sCR1
E0 ( s ) R1
 
E i ( s ) R1  R2  sR1 R2 C
R2 R1
 
E0 ( s ) R2  1  sCR1 
   
E i ( s ) R1  R2  sR1 R2 C 
1  R R 
 2 1 

On substituting the α = (R1 +R2)/ R2 and T = {(R1R2) /(R1 +R2)} in the above equation.
Where, T and α are respectively the time constant and attenuation constant,

E o ( s ) 1  1  sT 
we have transfer function; G Lead ( s )  
E i ( s )   1  sT 

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The above network can be visualized as an amplifier with a gain of 1/α. Let us draw the pole
zero plot for the above transfer function.

Pole Zero Plot of Lead Compensating Network

Clearly we have -1/T (which is a zero of the transfer function) is closer to origin than the -1/(αT)
(which is the pole of the transfer function).Thus we can say in the lead compensator zero is more
dominating than the pole and because of this lead network introduces positive phase angle to the
system when connected in series. Let us substitute s = jω in the above transfer function and also
we have α < 1. On finding the phase angle function for the transfer function we have;
 (  )  tan 1 ( T )  tan 1 ( T )
Now in order to find put the maximum phase lead occurs at a frequency let us differentiate this
phase function and equate it to zero. On solving the above equation we get;
1  sin  m

1  sin  m
Where, θm is the maximum phase lead angle. And the corresponding magnitude of the transfer
function at maximum θm is 1/a.

Effect of Phase Lead Compensation:

 The velocity constant Kv increases.
 The slope of the magnitude plot reduces at the gain crossover frequency so that relative
stability improves and error decrease due to error is directly proportional to the slope.
 Phase margin increases.
 Response becomes faster.
 Advantages of Phase Lead Compensation
 Let us discuss some of the advantages of the phase lead compensation-
 Due to the presence of phase lead network the speed of the system increases because it
shifts gain crossover frequency to a higher value.
 Due to the presence of phase lead compensation maximum overshoot of the system
decreases.
 Disadvantages of Phase Lead Compensation
 Some of the disadvantages of the phase lead compensation -
 Steady state error is not improved.

3.8 Phase Lag Compensation

A system which has one zero and one dominating pole (the pole which is closer to origin that all
other poles is known as dominating pole) is known as lag network. If we want to add a
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dominating pole for compensation in control system then, we have to select a lag compensation
network. The basic requirement of the phase lag network is that all poles and zeros of the transfer
function of the network must lie in -ve real axis interlacing each other with a pole located or on
the nearest to the origin. Given below is the circuit diagram for the phase lag compensation
network.

Phase Lag Compensating Network

We will have the output at the series combination of the resistor R2 and the capacitor C. From
the above circuit diagram, we get Now let us determine the transfer function for the given
network and the transfer function can be determined by finding the ratio of the output voltage to
the input voltage. Taking Laplace transform of above two equations we get,
1
ei  iR1  iR2   idt
C
1
eo  iR2   idt
C
1
Ei ( s )  R1 I ( s )  R2 I ( s )  I( s )
Cs
1
E o ( s )  R2 I ( s )  I( s )
Cs
1
R2 
E (s) Cs R2 Cs  1
Transfer function, Glag ( s )  o  
Ei ( s ) 1 ( R1  R2 )Cs  1
R1  R2 
Cs
On substituting it in the above equation (Where, T and β are respectively the time constant and
DC gain), we have The above network provides a high frequency gain of 1 / β. Let us draw the
pole zero plot for the above transfer function.

 R  R1  1  Ts
T  R2 C and    2  Transferfunctio,Glag ( s ) 
 R1  1  Ts

Pole Zero Plot of Lag Network

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Clearly we have -1/T (which is a zero of the transfer function) is far to origin than the -1 / (βT)
(which is the pole of the transfer function). Thus we can say in the lag compensator pole is more
dominating than the zero and because of this lag network introduces negative phase angle to the
system when connected in series. Let us substitute s = jω in the above transfer function and also
we have a < 1. On finding the phase angle function for the transfer function we have;

 (  )  tan 1 ( T )  tan 1 ( T )

Now in order to find put the maximum phase lag occurs at a frequency let us differentiate this
phase function and equate it to zero. On solving the above equation we get Where, θm is the
maximum phase lead angle. Remember β is generally chosen to be greater than 10.

1  sin  m

1  sin  m

*Effect of Phase Lag Compensation

 Gain crossover frequency increases.

 Bandwidth decreases.
 Phase margin will be increase.
 Response will be slower before due to decreasing bandwidth, the rise time and the
settling time become larger.

*Advantages of Phase Lag Compensation

 Let us discuss some of the advantages of phase lag compensation -

 Phase lag network allows low frequencies and high frequencies are attenuated.
 Due to the presence of phase lag compensation the steady state accuracy increases.
 Disadvantages of Phase Lag Compensation
 Some of the disadvantages of the phase lag compensation -
 Due to the presence of phase lag compensation the speed of the system decreases.

3.9 Phase Lag-Lead Compensation

With single lag or lead compensation may not satisfy design specifications. For an unstable
uncompensated system, lead compensation provides fast response but does not provide enough
phase margin whereas lag compensation stabilize the system but does not provide enough
bandwidth. So we need multiple compensators in cascade. Given below is the circuit diagram for
the phase lag- lead compensation network.

Lag Lead Compensating Network

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Now let us determine transfer function for the given network and the transfer function can be
determined by finding the ratio of the output voltage to the input voltage.

 1  1 
 s   s  
Eo ( s )  R1C1  R2 C 2 
Transfer function, Glaglead ( s )  
Ei ( s )  1 1 1  1
s 2      s 
 1 1
R C R C
2 2 R 2 1 
C R R
1 2 C1C 2

Eo ( s ) ( R1C1 s  1 )( R2 C 2 s  1 )
 Glaglead ( s )  
Ei ( s ) R1 R2 C1C 2 s 2  ( R1C1  R2 C 2  R2 C1 )s  1

On substituting the αT1 = R1C1, R2C2 = βT2, R1R2C1C2 = αβT1T2 and T1T2 = R1R2C1C2 in the
above equation (where T1, T2 and α, β are respectively the time constants and attenuation
constants). We have Let us draw the pole zero plot for the above transfer function.

( 1  T1 s )( 1  T2 s )
Transferfunctio,Glaglead ( s ) 
( 1  T1 s )( 1  T2 s )

Pole Zero Plot Lag Lead Network

Clearly we have -1/T (which is a zero of the transfer function) is far to the origin than the -
1/(βT)(which is the pole of the transfer function). Thus we can say in the lag-lead compensation
pole is more dominating than the zero and because of this lag-lead network may introduces
positive phase angle to the system when connected in series.

*Advantages of Phase Lag Lead Compensation

 Let us discuss some of the advantages of phase lag- lead compensation-

 Due to the presence of phase lag-lead network the speed of the system increases because
it shifts gain crossover frequency to a higher value.
 Due to the presence of phase lag-lead network accuracy is improved.

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COMPENSATOR – DESIGN USING BODE PLOTS

3.10 DESIGN OF LAG COMPENSATOR

Procedure for LAG compensator design

1. Choose the value of K in uncompensated system to meet the steady state error requirement.
2. Sketch the bode plot of uncompensated system
3. Determine the phase margin of the uncompensated system from the bode plot. If the phase
margin does not satisfy the requirement then lag compensation is required.
4. Choose a suitable value of the phase margin of the compensated system.
Let γ - desired phase margin as given in
d

Let γ - Phase Margin of the compensated system.

n

Now, γ = γ + ε
n d

ε - additional phase lag to compensate for shift in gain cross over frequency.
Chose an initial value of ε =5º
5. Determine the new gain cross over frequency ωgcn .
Let, Φgcn= phase of G(j) at new gain cross over frequency, ωgcn.
Now, γn =180º+ Φgcn or Φgcn = γn -180º
The new gain crossover frequency , ωgcn is given by the frequency at which the phase of G(j) is
Φgcn
6. Determine the parameter, β of the compensator. The value of β is given by the magnitude of
G(jω) at new gain cross over frequency ω Find the db gain (A ) at new gain cross
gcn . gcn
over frequency, ω .
gcn

Agcn

Now, A =20logβ or   10 20
gcn

7. Determine the transfer function of lag compensator. Place the zero of the compensator
th
arbitrarily at 1/10 of the new gain cross over frequency, ω
gcn.

Zero of the lag compensator

10 1
T and z c 
gcn T

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Pole of the lag compensator
1
pc 
T
The transfer function of lag compensator
1
s
Gc( s )  T    1  sT 
 
s
1  1  s T 
T
8. Determine the open loop transfer function of the compensated system
9. Calculate the actual phase angle of the compensated system using the compensated transfer
function at new gain cross over frequency ωgcn.
10. If new phase margin not satisfies the given specification, repeat the procedure from 4 to 10
by increasing the ε value by 5.

Example 1
A unity feedback system has an open loop transfer function G(s). Design a suitable lag
compensator so that phase margin is 40º and the steady state error for ramp input is less
than or equal to 0.2.
k
G( s) 
s(1  2s)

1. Calculation of gain k
given ess < 0.2 for ramp input, let ess=0.2
wkt ess=1/Kv for ramp input.
Kv=1/ess =1/0.2=5
K v  Lt sG ( s ) H ( s )
s 0

 k 
 Lt s  k
s 0
 s(1  2 s) 
so k  Kv  5
Bode plot of uncompensated system.
5 5
Given that G ( s)  , G( j ) 
s(1  2s) j (1  j 2 )
The corner frequency is 0.5 rad/sec

Change in slope
Term Corner Frequency rad/sec Slope db/dec
db/dec
5
- -20
j
1
0.5 -20 -40
(1  2 j )

Select a frequency ω < ω and ω > ω

l c1 h c2

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ω =0.1 rad/sec, ω =10 rad/sec,
l h

5 5  5 
l  0.1, A  20log  20log    20log    34 db
j    0.1 
5 5  5 
c  0.5, A  20log  20log    20log    20 db
j    0.5 
  
h  10, A  (slope from c to h )x log( h )   A(at   c )
 c 
  10  
 ( 40)x log     20  32 db
  0.5 
  900  tan 1 (2 )

ω 0.1 0.5 1 5 10
Ф -101 -135 -153 -174 -177

Phase margin of uncompensated system

Φ = -162°
PM = 180 +(-162°)=18°
But the desired PM is 40°
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PM of compensated system
γn = γd + 5° = 40°+ 5°= 45°
wkt γn =180º+ Φgcn
Φgcn = 45° -180º = -135°
From the bode plot find the new ωgcn and magnitude for new Φgcn = -135°
ωgcn = 0.5 rad/sec
Magnitude Agcn = 20 db.
Agcn 20
  10 20
 10 20
 10

Zero of the lag compensator

1 gcn
zc   or
T 10
10 10
T   20
gcn 0.5
Pole of the lag compensator
1 1
pc    0.005
 T 10 x 20
1
s
Gc( s )  T    1  sT   10  1  20s 
   
s
1  1  s T   1  200s 
T
Open transfer function of new system with compensator is
OL=Gc(s)*G(s)
5 1  20s 
G0 ( s) 
s 1  200s 1  2s 

The phase angle of the new system is given by

  tan 1 (20)  900  tan 1 (200)  tan 1 (2)

The phase angle at new gain cross over fruequcy (0.5 rad/sec) is -140⁰ .
Phase margin (PM) = 180 +(-140°)=40°
Hence the new phase margin is 40⁰ .
The compensator satisfies the requirement. Hence the design is acceptable.
Note:
If new PM is not meet the specifications. Increase the ε value and them proceed the step 4 to 10.

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3.11 DESIGN OF LEAD COMPENSATOR
Procedure for LEAD compensator design

1. Determine k
2. Draw bode plot
3. Determine the Phase margin (γ)
4. Calculate the phase angle needed
5. ϕ =γ -γ+ ε
m d

ϕ = max phase lead angle of the lead compensator

m

γ - Desired phase margin

d

γ – PM of uncompensated system
ε- additional phase lead needed for compensation (5°)
6. Determine the TF of Lead compensator

1  sin m  1 
 , A  20log  
1  sin m  

From bode plot determine, ωm at which the magnitude G(jω) is A.

1
T
m 
1
s
Gc ( s )  T   (1  sT )
s
1 (1   sT )
T
Example
k
Design a phase lead compensator for the system G ( s)  to satisfy the following
s( s  1)
specifications
(i) The phase margin of the system ≥45°
(ii) Steady state error for a unit ramp input ≤ 1/15
(iii) The gain cross over frequency of the system must be less than 7.5 rad/sec.

Solution:

1. Determine k

ess = 1/15 = 1/Kv

So, Kv=15

Wkt,
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K v  Lt sG ( s ) H ( s )
s 0

 k 
 Lt s  k
s 0
 s( s  1) 
so k  Kv  15

Bode plot of uncompensated system.

Given that

15
G ( s) 
s (1  s)
15
G ( j ) 
j (1  j )

The corner frequency is 1 rad/sec

Corner Frequency Change in slope

Term Slope db/dec
rad/sec db/dec
15
- -20
j
1
1 -20 -40
(1  j )

Select a frequency ωl < ωc and ωh> ωc

ωl =0.1 rad/sec, ωh =10 rad/sec,

15  15   15 
l  0.1, A  20 log  20 log    20 log    44 db
j   0.1 
15  15   15 
c  1, A  20 log  20 log    20 log    24 db
j  1
  
h  10, A  (slope from c to h )x log  h    A(at   c )
  c 
  10  
 (40)x log     24  16 db
  1 

  90  tan 1 

0.1 0.5 1 2 5 10
ω rad/sec
-96 -117 -135 -153 -169 -174
Ф in
degree

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From the bode plot

φ=-167 so PM=180+(-167)=13°

Step 4: find φm

γd= 45°, φm = γd – γ +ε=45-13+5=37°

Step 5

1  sin 37
  0.25
1  sin 37

 1   1 
A( at  )  20log    20log    6 db
   0.25 

From the bode plot ωm corresponding to A= -6db, ωm=5.6 rad/sec

1 1
T   0.36
m  5.6 0.25

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The transfer function of the LEAD Compensator

(1  sT ) (1  0.36s)
Gc ( s)    0.25
(1   sT ) (1  0.09 s)
Open transfer function of new system with compensator is
OL=Gc(s)*G(s)
15 1  0.36s 
G0 ( s) 
s 1  0.09s 1  s 

3.12 DESIGN OF LAG-LEAD COMPENSATOR

Procedure for Lag-Lead compensator design

1. Determine k
2. Draw bode plot
3. Determine the Phase margin (γ)
4. Calculate the phase angle needed
γ = γ +ε
n d

γ - Phase Margin of the compensated system.

n

γ - Desired phase margin

d

ε- additional phase lag needed for compensation

5. Determine the new gain cross over frequency ωgcn from the bode plot at ϕgcn

ϕgcn = γn -180º

and choose ωgcl > ωgcn

6. Calculate β

Find the db gain (Agcl) at ωgcl from bode plot

Agcl
  10 20
7. Determine the TF of Lag section

10
T1 
gcl
 1  sT1 
G1 ( s )    
 1  s T1 

8. Determine the TF of Lead section

Take α =1/β

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Determine, ωm (bode plot) at which the magnitude is

 1 
A  20 log  ,
 
1
T2 
m 
(1  sT2 )
G2 ( s )  
(1   sT2 )
 1  T1s   1  T2 s 
Gc ( s )     *  
 1   T1s   1   T2 s 

Example 1:
Consider a feedback control system with open loop transfer function
K
G( s)  . Design a lag-lead compensator to meet the following specifications.
s( s  5)
Kv ≥10, Phase margin=40⁰ , Bandwidth=12 rad/sec.

Solution:
K
Given, G ( S )  , Kv≥10, Phase Margin=40, bandwidth=12 rad/sec.
S ( S  5)
Step 1: Determine K
K K
Velocity Error Constant KV  lt S .G( S )  lt S .   10
S 0 S 0 S ( S  5) 5
K=50
50 10
Therefore G( S )  
S ( S  5) S (1  0.2S )
Step 2: Bode Plot of uncompensated system
Put S=jω
10
G( j ) 
j (1  0.2 j )

Magnitude Plot

Corner Frequency ωc=5rad/sec

Let ωl=1 rad/sec and ωh=50 rad/sec
Change in slope
Term Corner Frequency rad/sec Slope db/dec
db/dec
10
- -20
j
1
5 -20 -40
(1  0.2 j )
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Let A=Magnitude in db
10
At ω= ωl A  20 log
 20db
1
10
At ω= ωc A  20 log  6db
5
50
At ω= ωh A  40 log  6  34db
5
Phase Plot:   G( j )  90  tan 1 0.2
ω 1 5 10 50

ϕ -101.3 -135 -153.4 -174.3

Step 3:

From Plot Gain crossover frequency of uncompensated system  gc  143

Now Phase Margin of uncompensated system   180   gc  180  143  37 

Step 4: The desired Phase Margin  d  40 

The new Phase Margin of compensated system  n   d    40  10  50

Step 5: Determine New Gain crossover frequency

 n  180   gcn   gcn   n  180  50  180  130

From the plot frequency corresponding to -130 deg is 3.8 rad/sec

Let ωgcn=5 rad/sec

Step 6: From plot magnitude at ωgcn is Agcl=6db

Agcl  20 log     10  1.99

Agcl / 20

Step 7:Determine the transfer function of Lag section

1  gcl
Zero of Lag compensator Z C1  
T1 10

10 1 1
T1   2, Pc1  
 gcl T1 3.98

(1  2S )
Transfer function of Lag section is GC1  1.99
(1  3.98S )

Step 8: Determine the transfer function of Lead section

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Let   1 /   0.5025

1
The db gain corresponding to ωm is  20 log  3.db , From plot frequency corresponding to

-3db is ωm= 8.4rad/sec

1
T2   0.16
m 

(1  0.16S )
Therefore Transfer function of Lead section is GC 2  0.5025
(1  0.0804S )

Step 9: Determine the transfer function of Lag-lead compensator

(1  2S ) (1  0.16S )
GC ( s)  GC1 * GC 2 
(1  3.98S ) (1  0.0804S )

Step 10: Transfer function of the System

(1  2S ) (1  0.16S ) 10
Go ( s)  GC ( s) * G( S ) 
(1  3.98S ) (1  0.0804S ) S (1  0.2S )

Step 11: Bode Plot of Compensated System

10(1  2 j )(1  0.16 j )

Go ( j ) 
j (1  3.98 j )(1  0.0804 j )(1  0.2 j )

Magnitude Plot

Let ωl=0.1 rad/sec and ωh=50 rad/sec

Change in slope
Term Corner Frequency rad/sec Slope db/dec
db/dec
10
- -20
j
1
0.25 -20 -40
(1  3.98 j )
(1  2 j ) 0.5 20 -20
1
5 -20 -40
(1  0.2 j )
(1  0.16 j ) 6.25 20 -20
1
12.43 -20 -40
(1  0.0804 j )

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Let A=Magnitude in db
10
At ω= ωl A  20 log  40db
0.1
10
At ω= ωc1 A  20 log  32db
0.25
0.5
At ω= ωc2 A  40 log  32  20db
0.25
5
At ω= ωc3 A  20 log  20  0db
0.5
6.25
At ω= ωc4 A  40 log  0  3.876db
5
12.43
At ω= ωc5 A  20 log  3.876  9.8db
6.25
50
At ω= ωh A  40 log  9.8  33.98db
12.43
10(1  j )(1  0.075 j )
Go ( j ) 
j (1  0.4466 j )(1  0.16785 j )(1  0.2 j )
Phase Plot:
  G( j)  tan 1 2  tan 1 0.16  90  tan 1 3.98  tan 1 0.0804  tan 1 0.2

ω 0.1 0.5 1 5 10 50

ϕ -101 -112 -109 -121 -136 -168

From the plot new Gain crossover frequency of compensated system  gc  121

Now Phase Margin of uncompensated system   180   gc  180  121  59

(1  2S ) (1  0.16S )
GC ( s) 
Hence the design is satisfied for the compensator (1  3.98S ) (1  0.0804S ) and the
transfer function of compensated system is

10(1  2S )(1  0.16S )

Go ( S ) 
S (1  3.98S )(1  0.0804S )(1  0.2S )

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